Algorithmic Foundations of Robotics XI: Selected by H. Levent Akin, Nancy M. Amato, Volkan Isler, A. Frank van PDF

By H. Levent Akin, Nancy M. Amato, Volkan Isler, A. Frank van der Stappen

ISBN-10: 3319165941

ISBN-13: 9783319165943

This rigorously edited quantity is the end result of the 11th version of the Workshop on Algorithmic Foundations of Robotics (WAFR), that is the most popular venue showcasing leading edge learn in algorithmic robotics. The 11th WAFR, which used to be held August 3-5, 2014 at Boğaziçi collage in Istanbul, Turkey persevered this practice. This quantity comprises prolonged types of the forty two papers provided at WAFR. those contributions spotlight the leading edge study in classical robotics difficulties (e.g. manipulation, movement, direction, multi-robot and kinodynamic planning), geometric and topological computation in robotics to boot novel purposes reminiscent of informative direction making plans, energetic sensing and surgical making plans. This e-book - wealthy through issues and authoritative individuals - is a distinct reference at the present advancements and new instructions within the box of algorithmic foundations.

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Extra info for Algorithmic Foundations of Robotics XI: Selected Contributions of the Eleventh International Workshop on the Algorithmic Foundations of Robotics

Sample text

As before, we assume that |Si | = |Ti | for all i. We will show that there exists a permutation σ : {1, 2, . . , } → {1, 2, . . , } such that we can independently execute the single-component motion plans for each component Fi as long as we do so in the order Fσ(1) , Fσ(2) , . . , Fσ( ) . To obtain this order, we define a directed graph representing the structure of F, which we call the directed-interference forest G = (V, E), where the nodes in V correspond to the components Fi . We add the directed edge (Fi , F j ) to E if either there exists a start position s ∈ S such that s ∈ I(i, j) , or there exists a target position t ∈ T such that t ∈ I( j,i) .

Then, we connect between the various parts of G. We consider a specific connected component F i of F ∗ and describe how the respective portion of the motion graph, namely G i , is generated. info Efficient Multi-robot Motion Planning for Unlabeled Discs in Simple Polygons (a) t2 (b) β 3 (s3 ) β 3 (t2 ) s4 3 t1 β (s1 ) s2 s2 G3 s3 t2 s3 F3 s4 t4 13 t4 t1 Fig. 3 a An illustration of a component F 3 of F ∗ and the structures used for generating the relevant portion of the motion graph. The boundary positions of F 3 consist of B 3 := {s2 , t1 , t2 , t4 }, while the hole positions consist of H 3 := {s3 , s4 }.

Then, we connect between the various parts of G. We consider a specific connected component F i of F ∗ and describe how the respective portion of the motion graph, namely G i , is generated. info Efficient Multi-robot Motion Planning for Unlabeled Discs in Simple Polygons (a) t2 (b) β 3 (s3 ) β 3 (t2 ) s4 3 t1 β (s1 ) s2 s2 G3 s3 t2 s3 F3 s4 t4 13 t4 t1 Fig. 3 a An illustration of a component F 3 of F ∗ and the structures used for generating the relevant portion of the motion graph. The boundary positions of F 3 consist of B 3 := {s2 , t1 , t2 , t4 }, while the hole positions consist of H 3 := {s3 , s4 }.

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Algorithmic Foundations of Robotics XI: Selected Contributions of the Eleventh International Workshop on the Algorithmic Foundations of Robotics by H. Levent Akin, Nancy M. Amato, Volkan Isler, A. Frank van der Stappen


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